CN108508802A - Material fitting method and device - Google Patents
Material fitting method and device Download PDFInfo
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- CN108508802A CN108508802A CN201810322052.9A CN201810322052A CN108508802A CN 108508802 A CN108508802 A CN 108508802A CN 201810322052 A CN201810322052 A CN 201810322052A CN 108508802 A CN108508802 A CN 108508802A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of material fitting method and device, which includes：The each suction nozzle for obtaining conveyer draws the state of first material, and each suction nozzle of the conveyer is drawn the state of first material as the first ordered series of numbers；The state for being carried correspondingly with the suction nozzle and second material being set on station is obtained, the state of station setting second material is carried correspondingly as the second ordered series of numbers with the suction nozzle using described；The each single item of each single item and corresponding second ordered series of numbers to the first ordered series of numbers carries out logic and operation, obtains third ordered series of numbers；First material and second material are matched according to the third ordered series of numbers.Material fitting method disclosed by the invention can carry out material matching according to the state of the material to be matched got, and without planning the movement locus of conveyer in advance, response is fast, and flexibility is high.
Description
Technical field
The present invention relates to automation fields, more particularly, to a kind of material fitting method and device.
Background technology
Two kinds of materials can be combined together by material adapting device, be not necessarily to manual operation, improved work efficiency, in electricity
Son, mechanical relevant industries are widely used.
Existing material fitting method firstly the need of material on clearly each station arrangement situation, further according to the row of material
Cloth situation plans the movement locus of conveyer, if material arrangement changes, needs the movement locus for planning material again.
Existing material fitting method control logic is complicated, and execution cycle is long, and control flexibility is poor.
Invention content
It is an object of the present invention to provide a kind of material with sum velocity it is fast, the high new solution of flexibility.
According to the first aspect of the invention, a kind of material fitting method is provided, including：
S1. each suction nozzle for obtaining conveyer draws the state of first material, by each suction nozzle of the conveyer
The state of first material is drawn as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw first
Material, " 1 " indicate that suction nozzle draws first material；In first ordered series of numbers at least subitem be " 1 " in the state of execute with
Lower step：
S2. obtain the state for being carried correspondingly with the suction nozzle and second material being set on station, will it is described with it is described
Suction nozzle carries the state of station setting second material as the second ordered series of numbers correspondingly；Wherein, in second ordered series of numbers,
" 0 " indicates to be provided with second material on station, and " 1 " indicates to be not provided with second material on station；
S3. each single item to the first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation, obtain third
Ordered series of numbers；
S4. first material and second material are matched according to the third ordered series of numbers.
Further, in the state that items are " 0 " in first ordered series of numbers, control suction nozzle draws the first object again
Material, re-executes step S1.
Further, the step S3 matches first material and second material according to the third ordered series of numbers, including：
If each single item of the third ordered series of numbers is " 0 ", controls the conveyer and carry out one work of transverse shifting
The distance of position, re-executes step S1；Otherwise,
Control suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers by first material to be matched to second material, then
The conveyer carries out the distance of one station of transverse shifting, re-executes step S1；
The transverse movement track of the conveyer is parallel to the orientation of the carrying station, the conveyer
The longitudinal movement track of suction nozzle is perpendicular to the carrying station.
Further, the transveyer is obtained by the vacuum pressure sensor being arranged on the suction nozzle of the conveyer
Each suction nozzle of structure draws the state of first material.
Further, it is obtained by the way that the fibre optical sensor on the carrying station is arranged and the is arranged on the carrying station
The state of two materials.
According to the second aspect of the invention, a kind of material adapting device is provided, including：
Conveyer, the conveyer include suction nozzle, and the conveyer transports first material by the suction nozzle；
Station is carried, the carrying station is for fixing second material；
Controller, the controller includes memory and processor, wherein the memory is stored with computer program, institute
Following steps can be realized by stating when program is executed by the processor：
S1. each suction nozzle for obtaining conveyer draws the state of first material, by each suction nozzle of the conveyer
The state of first material is drawn as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw first
Material, " 1 " indicate that suction nozzle draws first material；In first ordered series of numbers at least subitem be " 1 " in the state of execute with
Lower step：
S2. obtain the state for being carried correspondingly with the suction nozzle and second material being set on station, will it is described with it is described
The state of the one-to-one station setting second material of suction nozzle is as the second ordered series of numbers；Wherein, in second ordered series of numbers, " 0 " table
Show and be provided with second material on station, " 1 " indicates to be not provided with second material on station；
S3. each single item to first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation,
Obtain third ordered series of numbers；
S4. first material and second material are matched according to the third ordered series of numbers.
Further, the controller in the state that items are " 0 " in first ordered series of numbers, inhale again by control suction nozzle
First material is taken, step S1 is re-executed.
Further, the controller executes the step S3, and first material and second is matched according to the third ordered series of numbers
Material, including：
If each single item of the third ordered series of numbers is " 1 ", whole suction nozzle longitudinal movements are controlled with by first material
It is assigned to second material, then the distance of one station of conveyer transverse shifting, after suction nozzle draws first material again, weight
It is new to execute step S1；
If the subitem of the third ordered series of numbers is " 1 ", suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers is controlled
First material is matched to second material, the conveyer carries out the distance of one station of transverse shifting, re-executes step
Rapid S1；
If each single item of the third ordered series of numbers is " 0 ", controls the conveyer and carry out one work of transverse shifting
The distance of position, re-executes step S1；
The transverse movement track of the conveyer is parallel to the station orientation of the carrying station, the transveyer
Station of the longitudinal movement track of the suction nozzle of structure perpendicular to the carrying station.
Further, the controller is obtained by the vacuum pressure sensor being arranged on the suction nozzle of the conveyer
Each suction nozzle of the conveyer draws the state of first material.
Further, the controller obtains the carrying work by the way that the fibre optical sensor on the carrying station is arranged
The state of second material is set on position.
According to one embodiment of the disclosure, material fitting method provided by the invention can be according to the shape of material to be coordinated
State determines the movement locus of conveyer, and response is fast, and flexibility is high.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Description of the drawings
It is combined in the description and the attached drawing of a part for constitution instruction shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is a kind of flow chart of material fitting method provided by the invention.
Fig. 2 is the flow chart of another material fitting method provided by the invention.
Fig. 3 is the method flow diagram provided by the invention that first material and second material are matched according to third ordered series of numbers.
Fig. 4 is the structural schematic diagram of material adapting device provided by the invention.
Reference sign：
1- conveyers；2- suction nozzles；3- fixed plates；4- first materials；5- second materials.
Specific implementation mode
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that：Unless in addition having
Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to the present invention
And its application or any restrictions that use.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
In shown here and discussion all examples, any occurrence should be construed as merely illustrative, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
A kind of material fitting method of present invention offer and system, Fig. 1 are the flows of material fitting method provided by the invention
Figure.As shown in Figure 1, this method may include following steps：
S101. each suction nozzle for obtaining conveyer draws the state of first material, by each suction nozzle of the conveyer
The state of first material is drawn as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw the first object
Material, " 1 " indicate that suction nozzle draws first material.
Specifically, conveyer can draw first material by suction nozzle, but not each suction nozzle can successfully be drawn to the
One material, and empty suction nozzle can not then carry out material cooperation, therefore, need to acquire the feelings of each suction nozzle absorbing material of conveyer
Condition, so as to according to the transport track for planning material conveyer the case where each suction nozzle absorbing material, avoid conveyer
Extra material interoperation is executed, to improve the working efficiency of conveyer.
The case where conveyer may include multiple suction nozzles, each suction nozzle absorbing material can be used as the first ordered series of numbers, the first ordered series of numbers
Such as can be Q1, Q2, Q3..., QN, N is the total number of the suction nozzle of the conveyer.Wherein, each suction nozzle absorbing material
The case where correspond to one in first ordered series of numbers, for example, if QNCorresponding suction nozzle draws first material, then QNFor " 1 "；If
QNCorresponding suction nozzle does not draw first material, then QNFor " 0 ".Using the case where each suction nozzle absorbing material as the first ordered series of numbers, can
So that fitting method is simpler, operation faster, improves material cooperation efficiency.
S102. determine that at least subitem is " 1 " in first ordered series of numbers, then executes step S103.
Specifically, at least subitem is " 1 " in the first ordered series of numbers, indicate there is suction nozzle to draw first in material conveyer
Material runs so as to avoid conveyer sky machine, improves the working efficiency of conveyer.
S103. the state for being carried correspondingly with the suction nozzle and second material being set on station is obtained, by this and the suction nozzle
The state of one-to-one carrying station setting second material is as the second ordered series of numbers；Wherein, in second ordered series of numbers, " 0 " indicates
Second material is provided on station, " 1 " indicates to be not provided with second material on station.
Specifically, when conveyer moves to predeterminated position, suction nozzle and the carrying station of conveyer correspond.
Carrying station can be used for carrying second material, but second material is respectively provided on not each carrying station, and empty
Station can not then carry out material cooperation, therefore, the case where second material is arranged in each carrying station need to be acquired, so as to according to every
The case where a carrying station setting second material, plans the transport track of material conveyer, and it is extra to avoid conveyer progress
Fitting operation, to improve the working efficiency of conveyer.
Carrying station can be multiple, and carrying the case where second material is arranged in station correspondingly with the suction nozzle can be used as
Second ordered series of numbers, the second ordered series of numbers for example can be L1, L2, L3..., LN；Wherein, the feelings of station setting second material are each carried
Condition corresponds to one in first ordered series of numbers, and since suction nozzle and the carrying station of conveyer correspond, then the first ordered series of numbers is each
Item is also corresponded with the second ordered series of numbers items.For example, if LNSecond material is arranged in corresponding carrying station, then LNIt is 1；If
LNCorresponding carrying station is not provided with second material, then LNIt is 0；And Q1, Q2, Q3..., QNEvery and L1, L2,
L3..., LNItems are one-to-one relationship.The case where station setting second material will each be carried as the second ordered series of numbers,
It may make that fitting method is simpler, operation faster, improves cooperation efficiency.
It should at least be provided with 1 second material on carrying station, that is to say, that 0 feelings are only not all in the second ordered series of numbers
Other operations are just executed under condition, are run so as to avoid conveyer sky machine, are improved the working efficiency of conveyer.
S104. each single item to the first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation, obtain the
Three ordered series of numbers.
Specifically, logical AND be equivalent to " and ", the logical operator of logical AND for example can be " ∧ ", the fortune of logical AND
Calculating rule is：
0 ∧ 0=0；
0 ∧ 1=0；
1 ∧ 0=0；
1 ∧ 1=1.
Every in first ordered series of numbers is 0 or 1, and every in the second ordered series of numbers is 0 or 1, each single item to the first ordered series of numbers and corresponding
The each single item of second ordered series of numbers carries out logic and operation, can obtain third ordered series of numbers, and items are 0 or 1 in third ordered series of numbers.
Wherein, third ordered series of numbers can be X1, X2, X3..., XN；For example, if QNWith LNIt is 1, then is corresponding to it
XNAlso it is 1；If QNWith LNBe 0, then corresponding XNAlso it is 1；If QNIt is 1, LNBe 0, then corresponding XNIt is 0；If LNIt is 1,
QNBe 0, then corresponding XNIt is 0.
S105. first material and second material are matched according to the third ordered series of numbers.
Specifically, " 1 " indicates conveyer when being located at the position in third ordered series of numbers, there is first material and corresponding on suction nozzle
It is provided with second material on carrying station, that is, first material can be matched with second material；" 0 " indicates in third ordered series of numbers
There is no material on suction nozzle and/or corresponding carrying station, that is, first material can not be matched with second material.Therefore, may be used
Select the conveyer in third ordered series of numbers corresponding to " 1 " to carry out material matching, the suction nozzle and carrying station corresponding to " 0 " then not into
Row material matches.
The present embodiment provides a kind of material fitting methods, including：The each suction nozzle for obtaining conveyer draws first material
State, each suction nozzle of the conveyer is drawn into the state of first material as the first ordered series of numbers；Wherein, described first
In ordered series of numbers, " 0 " indicates that suction nozzle does not draw first material, and " 1 " indicates that suction nozzle draws first material；In first ordered series of numbers extremely
Rare subitem be " 1 " in the state of execute following steps：It obtains to carry correspondingly with the suction nozzle and the is arranged on station
The state of two materials carries the state of station setting second material as the second number correspondingly using described with the suction nozzle
Row；Wherein, in second ordered series of numbers, " 0 " indicates to be provided with second material on station, and " 1 " indicates to be not provided with the on station
Two materials；The each single item of each single item and corresponding second ordered series of numbers to the first ordered series of numbers carries out logic and operation, obtains third ordered series of numbers；
First material and second material are matched according to the third ordered series of numbers.The material fitting method, can be according to the object to be matched got
The state of material carries out material matching, and without planning the movement locus of conveyer in advance, response is fast, and flexibility is high.
The present invention also provides a kind of material fitting methods.Fig. 2 is the stream of another material fitting method provided by the invention
Cheng Tu.As shown in Fig. 2, on the basis of Fig. 1, Fig. 2 may include following steps：
S201. in the state that items are " 0 " in first ordered series of numbers, control suction nozzle draws first material again, lays equal stress on
It is new to execute step S101.
Specifically, the first ordered series of numbers items are " 0 ", indicate that whole suction nozzles of conveyer are not drawn to the first object
Material, at this point, controllable suction nozzle draws first material again so that conveyer at least transports 1 first material every time.
Material matching process provided in this embodiment is drawn first material by controlling suction nozzle, is realized to first material
Lasting feed, improve work efficiency.
Fig. 3 is the method flow diagram provided by the invention that first material and second material are matched according to third ordered series of numbers.Such as Fig. 3
Shown, S105 may include following steps：
S301. judge whether each single item is " 0 " to third ordered series of numbers.
Can also be partly " 0 " specifically, in third ordered series of numbers every possible all " 0 ".
S302. if so, controlling the distance that the conveyer carries out one station of transverse shifting.
Specifically, in the present invention therefore the suction nozzle quantity of conveyer may make transveyer less than the quantity of carrying station
The movement of structure traverse cycle is to change the corresponding situation of the suction nozzle and carrying station of conveyer.If each single item of third ordered series of numbers is
" 0 " indicates when conveyer is in the position, matched material can not be carried out on suction nozzle and corresponding carrying station,
At this point, the distance of controllable conveyer one station of transverse shifting.
S303. otherwise, suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers is controlled so that first material is matched to second
Material then executes S302.
If the subitem of third ordered series of numbers is " 0 ", indicate when conveyer is in the position, suction nozzle and corresponding carrying work
There is part that can carry out matched material on position, at this point, can control suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers to incite somebody to action
First material is matched to second material, and then the conveyer carries out the distance of one station of transverse shifting.
If each single item of third ordered series of numbers is " 1 ", indicate when conveyer is in the position, suction nozzle and corresponding carrying
Material on station can all correspond matching, at this point, controllable whole suction nozzle longitudinal movement is first material to be matched to
Second material, then the distance of conveyer progress one station of transverse shifting, re-executes step S101.
S304. determine that second material all coordinates with first material, otherwise, re-executes step S101.
Specifically, the recordable sum for transporting first material of conveyer, for example, share L on station if transporting
Second material, conveyer have transported and Q first material are matched with second material.Comparable conveyer transports the
The quantity Q of the one material and total L of second material, if the first material quantity that conveyer transports is less than second on carrying station
The quantity of material indicates that first material and second material do not exactly match, need to re-execute step S101；If conveyer is transported
The first material quantity Q sent is equal to the quantity of second material L on carrying station, indicates first material and whole of second material
Match, then EP (end of program).
Wherein, the transverse movement track of the conveyer is parallel to the orientation of the carrying station, the conveyer
The longitudinal movement track of suction nozzle is perpendicular to the carrying station.
Specifically, the material fitting method of the present embodiment is to be directed to the suction nozzle quantity of conveyer in reality less than carrying work
The case where position；The corresponding situation of the suction nozzle and carrying station of conveyer, the present embodiment can be changed in conveyer transverse shifting
In, for conveyer per one station of transverse shifting, then the suction nozzle of conveyer corresponds to new carrying station again, and corresponding every
A new carrying station differs a station with corresponding former carrying station.Conveyer is moved by traverse cycle, may make
Each carrying station has corresponding suction nozzle, and then may make the second material being arranged on each load carrier and have therewith
Corresponding first material.Wherein, conveyer is moved by traverse cycle, is first to be moved along one of arragement direction, is moved to
After the end, then to other end move.
The longitudinal movement track of the suction nozzle of conveyer may make each suction nozzle of conveyer perpendicular to the carrying station
It can vertically move respectively to match first material and second material.
Material matching process provided in this embodiment, is combined by the transverse movement of conveyer with longitudinal movement, real
The matching to first material and second material is showed.
In step S101 as described above, such as it can be the vacuum pressure by being arranged on the suction nozzle of the conveyer
Force snesor obtains the state of each suction nozzle absorption first material of the conveyer.
Vacuum pressure sensor can be set on suction nozzle to obtain the state of suction nozzle absorbing material.When work, the pressure of suction nozzle
It acts directly on the diaphragm of the vacuum pressure sensor, diaphragm is made to generate the micro-displacement directly proportional to suction nozzle pressure, keep this true
The resistance of pneumatics force snesor changes, and electronic circuit can be used and detect this variation, and converts one correspondence pressure of output
The standard signal of power.To obtain the state that each suction nozzle draws first material according to the signal.
Material fitting method provided in this embodiment obtains each suction nozzle by vacuum pressure sensor and draws first material
State improved work efficiency without manually checking.
In step S102 as described above, such as can be obtained by the way that the fibre optical sensor on the carrying station is arranged
Take the state that second material is set on the carrying station.
Specifically, fibre optical sensor can emit light to the carrying station, and the light is reflected according to the carrying station
Situation judges the case where material is arranged in the carrying station, wherein if being provided with second material on the carrying station, is reflected back
Light luminance is relatively low, if being not provided with second material on the carrying station, the light luminance being reflected back is higher, according to detecting
Pressure signal, it may be determined that carrying station on be arranged second material state.
Material fitting method provided in this embodiment obtains second material on each carrying station by fibre optical sensor
State is improved work efficiency without manually checking.
The present invention also provides a kind of material adapting device, Fig. 4 is the structural representation of material adapting device provided by the invention
Figure.Material adapting device as shown in Figure 4, including：Conveyer 1 carries station and controller.Conveyer 1 is used for
Transport first material 4；Carrying station is for fixing second material 5；It is provided with vacuum pressure on each suction nozzle 2 of conveyer 1
Sensor, the vacuum pressure sensor are connect with controller；Carrying station on be provided with fibre optical sensor, the fibre optical sensor with
Controller connects；The controller is connect with conveyer 1.
Wherein, conveyer 1 may include：Driving portion, multiple fixed plates 3 and multiple suction nozzles 2, multiple suction nozzles 2 pass through respectively
Fixed plate 3 is connect with the driving portion.
Specifically, the suction nozzle 2 of conveyer 1 for example can be vacuum slot, which can pass through seal pipe
It is connect with vacuum pump, when work, the air in suction nozzle can be pumped out by seal pipe, suction nozzle is made firmly to be adsorbed in first material table
Face, to carry out the carrying of article, transmit.Multiple suction nozzles 2 are used for absorbing material, and driving portion is for driving the fixed plate 3 to generate
Laterally or vertically move.
Specifically, the driving portion for example can be electric cylinders.
The vacuum pressure sensor is used to detect on the suction nozzle 2 of conveyer 1 the case where drawing first material 4, and will adopt
The information collected is sent to the controller.
Specifically, the pressure of suction nozzle acts directly on the diaphragm of the vacuum pressure sensor, make diaphragm generation and suction nozzle
The directly proportional micro-displacement of pressure, makes the resistance of the vacuum pressure sensor change, and electronic circuit can be used and detect this change
Change, and converts the standard signal of the one corresponding pressure of output.First material is drawn to obtain each suction nozzle according to the signal
State.
Second material situation is arranged for detecting in the fibre optical sensor on carrying station corresponding with the suction nozzle 2, and will adopt
The information collected is sent to the controller.
Specifically, fibre optical sensor can emit light to the carrying station, and the light is reflected according to the carrying station
Situation judges the case where material is arranged in the carrying station, wherein if being provided with second material on the carrying station, is reflected back
Light luminance is relatively low, if being not provided with second material on the carrying station, the light luminance being reflected back is higher, according to detecting
Pressure signal, it may be determined that carrying station on be arranged second material state.
The controller includes memory and processor, and the wherein memory is stored with computer program, and the program is by this
Reason device can realize that step S101, S102, S103, S104 and the S105 being as above somebody's turn to do, the controller are used for according to reception when executing
To each suction nozzle 2 draw first material 4 the case where and it is each carrying station on be arranged second material 5 the case where control transveyer
Structure 1 moves so that the first material 4 that conveyer 1 transports and the second material 5 of carrying station carrying coordinate one by one.
Specifically, the controller for example can be programmable logic controller (PLC) (Programmable Logic
Controller, abbreviation PLC).
PLC is a kind of computer being exclusively used in Industry Control, it may include：Power supply, central processing unit, memory, input
Unit and output unit.
Wherein, power supply is used to convert alternating current to direct current required inside PLC, and current major part PLC is using switch
Formula regulated power supply is powered；Central processing unit is by controller, arithmetic unit and register group at these circuits all concentrate on chip piece
On, it is connected with the input/output interface circuit of memory by address bus, controlling bus.Input unit is used for reception optical fiber
The information that sensor and vacuum pressure sensor are sent.Output unit is used to send signal to conveyer.
Although some specific embodiments of the present invention are described in detail by example, the skill of this field
Art personnel it should be understood that example above merely to illustrating, the range being not intended to be limiting of the invention.The skill of this field
Art personnel are it should be understood that can without departing from the scope and spirit of the present invention modify to above example.This hair
Bright range is defined by the following claims.
Claims (10)
1. a kind of material fitting method, which is characterized in that including：
S1. each suction nozzle for obtaining conveyer draws the state of first material, and each suction nozzle of the conveyer is drawn
The state of first material is as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw first material,
" 1 " indicates that suction nozzle draws first material；Following step is executed in the state that at least subitem is " 1 " in first ordered series of numbers
Suddenly：
S2. acquisition carries the state that second material is arranged on station with the suction nozzle correspondingly, will the described and suction nozzle
The state of one-to-one carrying station setting second material is as the second ordered series of numbers；Wherein, in second ordered series of numbers, " 0 " table
Show and be provided with second material on station, " 1 " indicates to be not provided with second material on station；
S3. each single item to the first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation respectively, obtain third
Ordered series of numbers；
S4. first material and second material are matched according to the third ordered series of numbers.
2. according to the method described in claim 1, it is characterized in that, in the state that items are " 0 " in first ordered series of numbers,
Control suction nozzle draws first material again, re-executes step S1.
3. method according to claim 1 or 2, which is characterized in that the step S3, according to third ordered series of numbers matching the
One material and second material, including：
If each single item of the third ordered series of numbers is " 0 ", the distance of one station of conveyer transverse shifting is controlled,
Re-execute step S1；Otherwise,
Control suction nozzle longitudinal movement corresponding with " 1 " in the third ordered series of numbers by first material to be matched to second material, then
The distance for controlling one station of conveyer transverse shifting, re-executes step S1；
The transverse movement track of the conveyer is parallel to the orientation of the carrying station, the suction nozzle of the conveyer
Longitudinal movement track perpendicular to the carrying station.
4. according to the method described in claim 1, it is characterized in that, by the way that the vacuum on the suction nozzle of the conveyer is arranged
Pressure sensor obtains the state that the suction nozzle draws first material.
5. according to the method described in claim 1, it is characterized in that, by the way that the fibre optical sensor on the carrying station is arranged
Obtain the state that second material is set on the carrying station.
6. a kind of material adapting device, which is characterized in that including：
Conveyer, the conveyer include suction nozzle, and the conveyer transports first material by the suction nozzle；
Station is carried, the carrying station is for fixing second material；
Controller, the controller includes memory and processor, wherein the memory is stored with computer program, the journey
Sequence realizes following steps when being executed by the processor：
S1. each suction nozzle for obtaining conveyer draws the state of first material, and each suction nozzle of the conveyer is drawn
The state of first material is as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw first material,
" 1 " indicates that suction nozzle draws first material；Following step is executed in the state that at least subitem is " 1 " in first ordered series of numbers
Suddenly：
S2. acquisition carries the state that second material is arranged on station with the suction nozzle correspondingly, will the described and suction nozzle
The state of one-to-one station setting second material is as the second ordered series of numbers；Wherein, in second ordered series of numbers, " 0 " indicates work
It is provided with second material on position, " 1 " indicates to be not provided with second material on station；
S3. each single item to first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation, obtain
Third ordered series of numbers；
S4. first material and second material are matched according to the third ordered series of numbers.
7. device according to claim 6, which is characterized in that controller items in first ordered series of numbers are
In the state of " 0 ", control suction nozzle draws first material again, re-executes step S1.
8. the device described according to claim 6 or 7, which is characterized in that the controller executes the step S3, according to described
Third ordered series of numbers matches first material and second material, including：
If each single item of the third ordered series of numbers is " 0 ", controls the conveyer and carry out one station of transverse shifting
Distance re-executes step S1；Otherwise,
Control suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers is then described first material is matched to second material
Conveyer carries out the distance of one station of transverse shifting, re-executes step S1；
The transverse movement track of the conveyer is parallel to the orientation of the carrying station, the suction nozzle of the conveyer
Longitudinal movement track perpendicular to the carrying station.
9. device according to claim 6, which is characterized in that the controller is by being arranged the suction in the conveyer
Vacuum pressure sensor on mouth obtains the state of each suction nozzle absorption first material of the conveyer.
10. device according to claim 6, which is characterized in that the controller is by being arranged on the carrying station
Fibre optical sensor obtain it is described carrying station on be arranged second material state.
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| CN108508802B (en) | 2019-11-15 |
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